Research on Spatial Target Positioning Method Based on Array Rotating Magnetic Beacon

In order to improve the positioning accuracy and application range of magnetic beacon navigation and positioning system, a method of array rotating magnetic beacon for target positioning is proposed. The plane three-axis cross combination beacon with a cross angle of 60° is placed to generate an artificial magnetic field signal. To reduce the inherent error of the sensor during signal measurement, four flux gate sensors are used at the receiving to form rules tetrahedral magnetic field measurements. On this basis, the characteristic frequency of the measurement signal is extracted using the overall least square method, and based on the gradient tensor positioning algorithm, the mathematical analysis model of the rotating magnetic beacon is derived in detail. In the laboratory environment, NdFeB was selected as the raw material of the magnetic beacon, the rotation frequency of the beacon was set to 20 Hz, and the spatial positioning effect of the combined beacon of the unary and array were compared to verify the practicability of the rotating magnetic beacon positioning method. The results show that the array arrangement of two identical cross-combined permanent magnets will increase the magnetic induction value at the same distance by 1.7 times, and the maximum positioning errors of the beacon and binary array beacon are 3.18 m and 2.46 m in the range of 10 m, the average positioning error is 1.91 m and 1.52 m which verifies the correctness of the proposed method. The use of array rotating combined magnetic beacons as sources provides a new solution for high-precision positioning of targets in the spatial magnetic beacon positioning system.